########################################################################### # # Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved. # # THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN # WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. # # @file pressure_occlusion.py # # @author (last) Vinayakam Mani # @date (last) 02-May-2024 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from logging import Logger from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class TDPressureSensors(AbstractSubSystem): """ Treatment Delivery (TD) Dialin API sub-class for pressure related commands. """ def __init__(self, can_interface, logger: Logger): """ TDPressureOcclusion constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_TD_PRESSURE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_pressure_sync) self.td_pressure_timestamp = 0.0 self.h2_arterial_pressure = 0.0 self.h14_venous_pressure = 0.0 self.h2_arterial_long_filtered_pressure = 0.0 self.h14_venous_long_filtered_pressure = 0.0 self.pressure_limits_state = 0 self.arterial_pressure_limit_min = 0 self.arterial_pressure_limit_max = 0 self.venous_pressure_limit_min = 0 self.venous_pressure_limit_max = 0 self.tmp_pressure = 0.0 self.tmp_min_limit = 0.0 self.tmp_max_limit = 0.0 @publish([ "td_pressure_timestamp", "h2_arterial_pressure", "h14_venous_pressure", "pressure_limits_state", "arterial_pressure_limit_min", "arterial_pressure_limit_max", "venous_pressure_limit_min", "venous_pressure_limit_max", "h2_arterial_long_filtered_pressure", "h14_venous_long_filtered_pressure", "tmp_pressure", "tmp_min_limit", "tmp_max_limit", ]) def _handler_pressure_sync(self, message, timestamp=0.0): """ Handles published pressure & occlusion data messages. Pressure data are captured for reference. @param message: published pressure & occlusion data message @return: none """ art = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) ven = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) pls = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) apl = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) apu = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) vpl = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) vpu = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) lfa = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) lfv = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) tps = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) tmin = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) tmax = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) self.h2_arterial_pressure = art[0] self.h14_venous_pressure = ven[0] self.pressure_limits_state = pls[0] self.arterial_pressure_limit_min = apl[0] self.arterial_pressure_limit_max = apu[0] self.venous_pressure_limit_min = vpl[0] self.venous_pressure_limit_max = vpu[0] self.h2_arterial_long_filtered_pressure = lfa[0] self.h14_venous_long_filtered_pressure = lfv[0] self.tmp_pressure = tps[0] self.tmp_min_limit = tmin[0] self.tmp_max_limit = tmax[0] self.td_pressure_timestamp = timestamp def cmd_pressure_sensor_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured arterial pressure override command . Constraints: Must be logged into TD. @param sensor: bool - switch between filtered override and raw override @param pressure: float - measured arterial pressure (in mmHg) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) sen = integer_to_bytearray(sensor) prs = float_to_bytearray(pressure) payload = rst + prs + sen message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_PRESSURE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override pressure sensor") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: if reset == RESET: str_res = "reset back to normal. " else: str_res = str(prs) + " mmHg. " self.logger.debug("pressure (measured)) overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured pressure sensors broadcast interval override command Constraints: Must be logged into TD. Given interval must be non-zero and a multiple of the TD general task interval (50 ms). @param ms: integer - interval (in ms) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ if not check_broadcast_interval_override_ms(ms): return False rst = integer_to_bytearray(reset) mis = integer_to_bytearray(ms) payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override blood flow broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal: " else: str_res = str(ms) + " ms: " self.logger.debug("Blood flow broadcast interval overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False